High-order Natural Iterative Leraning Control of Robotic Manipulator
Само за регистроване кориснике
2003
Конференцијски прилог (Објављена верзија)
Метаподаци
Приказ свих података о документуАпстракт
In this paper it is considered problem of control robotic systems using suitable iterative learning control. Recently, there have been extensive research activities in the topic of learning control for controlling dynamics non-linear systems in a iterative manner. The learning control concept differs from conventional control methodologies in that the control input can be appropriately adjusted to improve its future performance by learning from the past experimental information as the operation is repeated. Iterative learning control (ILC) requires less a priori knowledge about the controlled system in the controller design phase and also less computational effort than many other kinds of control . Dynamic model of robotic manipulator with uncertainties can be presented in the form of state space and output equations as a class of time-varying, non -linear system. Motivated by human learning, the basic idea of iterative learning control is to use information from previous execut...ions of the task in order to improve performance from trial to trial in the sense that the tracking error is sequentially reduced. It is proposed high-order feedforward ILC using local negative feedback on control with great amplifying. Sufficient conditions for the convergence of a new type ILC algorithm for a class of time-varying, non-linear system are obtained. Finally, results are applied to a suitable robotic manipulator through simulation, which demonstrates the effectiveness of the method.
Кључне речи:
robotic manipulators / natural iterative learning control / high orderИзвор:
Booklet of abstracts the sixth international symposium on nonlinear mechanics - nonlinear sciences and applications, August, 24-29, 2003., Niš. (6th ISNM-NSA), Niš 2003, 2003, 177-178Издавач:
- University of Niš, Faculty of Mechanical Engineering
- Mathematical Institute of the Serbian Academy of Sciences and Arts SANU, Belgrade
Колекције
Институција/група
Mašinski fakultetTY - CONF AU - Lazarević, Mihailo PY - 2003 UR - https://machinery.mas.bg.ac.rs/handle/123456789/6678 AB - In this paper it is considered problem of control robotic systems using suitable iterative learning control. Recently, there have been extensive research activities in the topic of learning control for controlling dynamics non-linear systems in a iterative manner. The learning control concept differs from conventional control methodologies in that the control input can be appropriately adjusted to improve its future performance by learning from the past experimental information as the operation is repeated. Iterative learning control (ILC) requires less a priori knowledge about the controlled system in the controller design phase and also less computational effort than many other kinds of control . Dynamic model of robotic manipulator with uncertainties can be presented in the form of state space and output equations as a class of time-varying, non -linear system. Motivated by human learning, the basic idea of iterative learning control is to use information from previous executions of the task in order to improve performance from trial to trial in the sense that the tracking error is sequentially reduced. It is proposed high-order feedforward ILC using local negative feedback on control with great amplifying. Sufficient conditions for the convergence of a new type ILC algorithm for a class of time-varying, non-linear system are obtained. Finally, results are applied to a suitable robotic manipulator through simulation, which demonstrates the effectiveness of the method. PB - University of Niš, Faculty of Mechanical Engineering PB - Mathematical Institute of the Serbian Academy of Sciences and Arts SANU, Belgrade C3 - Booklet of abstracts the sixth international symposium on nonlinear mechanics - nonlinear sciences and applications, August, 24-29, 2003., Niš. (6th ISNM-NSA), Niš 2003 T1 - High-order Natural Iterative Leraning Control of Robotic Manipulator EP - 178 SP - 177 UR - https://hdl.handle.net/21.15107/rcub_machinery_6678 ER -
@conference{ author = "Lazarević, Mihailo", year = "2003", abstract = "In this paper it is considered problem of control robotic systems using suitable iterative learning control. Recently, there have been extensive research activities in the topic of learning control for controlling dynamics non-linear systems in a iterative manner. The learning control concept differs from conventional control methodologies in that the control input can be appropriately adjusted to improve its future performance by learning from the past experimental information as the operation is repeated. Iterative learning control (ILC) requires less a priori knowledge about the controlled system in the controller design phase and also less computational effort than many other kinds of control . Dynamic model of robotic manipulator with uncertainties can be presented in the form of state space and output equations as a class of time-varying, non -linear system. Motivated by human learning, the basic idea of iterative learning control is to use information from previous executions of the task in order to improve performance from trial to trial in the sense that the tracking error is sequentially reduced. It is proposed high-order feedforward ILC using local negative feedback on control with great amplifying. Sufficient conditions for the convergence of a new type ILC algorithm for a class of time-varying, non-linear system are obtained. Finally, results are applied to a suitable robotic manipulator through simulation, which demonstrates the effectiveness of the method.", publisher = "University of Niš, Faculty of Mechanical Engineering, Mathematical Institute of the Serbian Academy of Sciences and Arts SANU, Belgrade", journal = "Booklet of abstracts the sixth international symposium on nonlinear mechanics - nonlinear sciences and applications, August, 24-29, 2003., Niš. (6th ISNM-NSA), Niš 2003", title = "High-order Natural Iterative Leraning Control of Robotic Manipulator", pages = "178-177", url = "https://hdl.handle.net/21.15107/rcub_machinery_6678" }
Lazarević, M.. (2003). High-order Natural Iterative Leraning Control of Robotic Manipulator. in Booklet of abstracts the sixth international symposium on nonlinear mechanics - nonlinear sciences and applications, August, 24-29, 2003., Niš. (6th ISNM-NSA), Niš 2003 University of Niš, Faculty of Mechanical Engineering., 177-178. https://hdl.handle.net/21.15107/rcub_machinery_6678
Lazarević M. High-order Natural Iterative Leraning Control of Robotic Manipulator. in Booklet of abstracts the sixth international symposium on nonlinear mechanics - nonlinear sciences and applications, August, 24-29, 2003., Niš. (6th ISNM-NSA), Niš 2003. 2003;:177-178. https://hdl.handle.net/21.15107/rcub_machinery_6678 .
Lazarević, Mihailo, "High-order Natural Iterative Leraning Control of Robotic Manipulator" in Booklet of abstracts the sixth international symposium on nonlinear mechanics - nonlinear sciences and applications, August, 24-29, 2003., Niš. (6th ISNM-NSA), Niš 2003 (2003):177-178, https://hdl.handle.net/21.15107/rcub_machinery_6678 .